version: 66.07
glider: 500
mission: 5
dive: 19
start: 11 9 110 16 52 48
data:
$ID,500
$MISSION,5
$DIVE,19
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,650
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,619.37238
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-121670.91
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3000
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-66.543793
$PRESSURE_SLOPE,0.00011603366
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$AR_DIVENUM,18
$AR_SAMPLENUM,1
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,091110,162446,2116.903,12339.860,9,2.1,28,-2.8
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-76.2
$GPS2,091110,165155,2116.856,12339.964,39,1.9,39,-2.8
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,-0.025
$KALMAN_X,13707.1,-198.2,47.2,26539.3,443.5
$KALMAN_Y,11418.0,-1501.2,35.5,3365.8,1042.2
$MHEAD_RNG_PITCHd_Wd,99.0,34658,-19.8,-10.040
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.80,-116.8,0.0,0.0,0,109,0.00,0.00,-80.47,0.000,2,0.000,0.000,118,1963,3474,0,0,0,0,0,0
$GC,112,-0.80,-116.8,3.3,-9.3,16,128,9.98,2.38,0.00,0.000,4,0.239,0.053,2741,365,3477,0,0,0,0,0,0
$GC,263,-0.80,-116.8,57.7,-33.8,36,269,0.00,2.33,0.00,0.000,6,0.000,0.049,2730,1947,3478,0,0,0,0,0,0
$GC,523,-0.80,-116.8,138.8,-20.7,61,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1948,3478,0,0,0,0,0,0
$GC,779,-0.80,-116.8,187.5,-16.8,85,783,0.00,2.38,0.00,0.000,4,0.000,0.056,2718,3545,3479,0,0,0,0,0,0
$GC,1029,-0.80,-116.8,226.1,-16.1,99,1034,0.00,2.33,0.00,0.000,6,0.000,0.041,2718,1950,3481,0,0,0,0,0,0
$GC,1351,-0.80,-116.8,270.5,-13.5,115,1355,0.00,2.33,0.00,0.000,4,0.000,0.053,2718,371,3482,0,0,0,0,0,0
$GC,1435,-0.80,-116.8,283.2,-13.7,119,1440,0.12,2.33,0.00,0.000,6,0.192,0.050,2739,1963,3480,0,0,0,0,0,0
$GC,1759,-0.80,-116.8,323.5,-13.0,131,1763,0.00,2.33,0.00,0.000,4,0.000,0.056,2728,3544,3482,0,0,0,0,0,0
$GC,1943,-0.80,-116.8,346.7,-11.5,135,1947,0.00,2.33,0.00,0.000,6,0.000,0.041,2728,1946,3479,0,0,0,0,0,0
$GC,2262,-0.80,-116.8,378.4,-9.8,143,2266,0.00,2.33,0.00,0.000,4,0.000,0.054,2716,3549,3478,0,0,0,0,0,0
$GC,2429,-0.80,-116.8,397.5,-12.0,146,2436,0.00,2.33,0.00,0.000,6,0.000,0.041,2719,1950,3477,0,0,0,0,0,0
$GC,2760,-0.80,-116.8,431.9,-10.3,155,2764,0.00,2.33,0.00,0.000,4,0.000,0.052,2716,372,3475,0,0,0,0,0,0
$GC,3017,-0.80,-116.8,463.4,-11.3,160,3024,0.10,2.30,0.00,0.000,6,0.173,0.047,2736,1943,3473,0,0,0,0,0,0
$GC,3349,-0.80,-116.8,494.3,-9.1,169,3353,0.00,2.30,0.00,0.000,4,0.000,0.051,2736,367,3470,0,0,0,0,0,0
$STATE,3408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3408,begin apogee
$GC,3415,-0.23,0.0,500.3,9.5,170,3508,0.60,0.00,89.53,1.022,6,0.158,0.000,2923,2102,3000,0,0,0,0,0,0
$STATE,3511,end apogee,CONTROL_FINISHED_OK
$STATE,3511,begin climb
$GC,3512,0.80,116.8,503.4,0.0,172,3616,0.95,2.53,94.72,1.007,4,0.096,0.058,3253,3696,2524,0,0,0,0,0,0
$GC,3716,0.80,116.8,482.8,12.5,176,3723,0.00,2.42,0.00,0.000,6,0.000,0.046,3267,2109,2517,0,0,0,0,0,0
$GC,4048,0.80,116.8,443.6,11.8,185,4052,0.00,2.38,0.00,0.000,4,0.000,0.057,3279,512,2516,0,0,0,0,0,0
$GC,4079,0.80,116.8,439.4,12.8,185,4086,0.00,2.40,0.00,0.000,6,0.000,0.051,3279,2107,2513,0,0,0,0,0,0
$GC,4411,0.80,116.8,398.5,11.7,194,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2107,2509,0,0,0,0,0,0
$GC,4736,0.80,116.8,359.2,12.2,202,4739,0.00,2.38,0.00,0.000,4,0.000,0.060,3279,3692,2506,0,0,0,0,0,0
$GC,4841,0.80,116.8,345.4,12.6,204,4847,0.12,2.35,0.00,0.000,6,0.160,0.047,3255,2090,2505,0,0,0,0,0,0
$GC,5154,0.82,132.2,316.6,9.1,212,5169,0.00,2.45,10.05,0.840,4,0.000,0.060,3254,3696,2462,0,0,0,0,0,0
$GC,5219,0.82,132.2,309.5,11.4,213,5223,0.00,2.38,0.00,0.000,6,0.000,0.048,3266,2094,2460,0,0,0,0,0,0
$GC,5543,0.82,132.2,274.3,10.3,227,5547,0.00,2.33,0.00,0.000,4,0.000,0.057,3278,505,2461,0,0,0,0,0,0
$GC,5615,0.83,134.8,266.8,9.9,230,5626,0.00,2.35,4.20,0.610,6,0.000,0.051,3278,2113,2449,0,0,0,0,0,0
$GC,5934,0.83,134.8,231.8,11.1,246,5938,0.00,2.35,0.00,0.000,4,0.000,0.056,3291,512,2450,0,0,0,0,0,0
$GC,6119,0.83,134.8,211.8,10.2,254,6123,0.00,2.35,0.00,0.000,6,0.000,0.049,3287,2100,2449,0,0,0,0,0,0
$GC,6446,0.84,148.3,183.3,9.3,279,6467,0.00,2.42,12.80,0.782,4,0.000,0.059,3291,3683,2396,0,0,0,0,0,0
$GC,6558,0.84,148.3,171.6,10.6,289,6563,0.12,2.30,0.00,0.000,6,0.149,0.043,3264,2095,2393,0,0,0,0,0,0
$GC,6818,0.92,207.9,152.8,6.6,313,6868,0.00,0.00,48.05,0.782,6,0.000,0.000,3264,2094,2153,0,0,0,0,0,0
$GC,7123,0.95,238.1,130.0,8.3,342,7155,0.12,2.40,24.48,0.742,4,0.089,0.056,3362,520,2028,0,0,0,0,0,0
$GC,7312,0.95,238.1,107.7,11.2,359,7318,0.17,2.33,0.00,0.000,6,0.130,0.048,3306,2104,2023,0,0,0,0,0,0
$GC,7573,1.04,304.6,91.2,6.2,383,7634,0.00,2.47,52.22,0.722,4,0.000,0.056,3317,522,1757,0,0,0,0,0,0
$GC,7646,1.13,380.9,87.0,5.6,390,7713,0.12,2.38,60.88,0.719,6,0.081,0.051,3400,2103,1447,0,0,0,0,0,0
$GC,7966,1.13,380.9,34.5,16.0,420,7971,0.12,2.40,0.00,0.000,4,0.136,0.057,3371,518,1439,0,0,0,0,0,0
$GC,8039,1.13,380.9,25.8,10.1,429,8044,0.00,2.35,0.00,0.000,6,0.000,0.047,3372,2110,1438,0,0,0,0,0,0
$STATE,8239,end climb,SURFACE_DEPTH_REACHED
$STATE,8239,begin surface coast
$FINISH,0.5,0.998183
$STATE,8258,end surface coast,CONTROL_FINISHED_OK
$STATE,8258,begin surface
$SM_CCo,8276,115.38,0.667,0,0,475,619.37
$SM_GC,0.96,0.00,0.00,115.38,0.000,0.000,0.667,143,1949,475,-8.93,-0.03,619.37
$IRIDIUM_FIX,2111.01,12340.12,040512,111108
$TT8_MAMPS,0.065962
$HUMID,1078694829
$INTERNAL_PRESSURE,9.28625
$TCM_TEMP,25.80
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8303083520
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59834695680
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.5,2.722
$10V_AH,10.5,2.203
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.425,80.775,396.925,115.375,0.000,140.455,201.834,828.953,0.000,0.000,41.659,877.525,5987.952,569.862,2389.369,203.859,33.347,1224.452,0.000,1139.884,0.000,0.544,0.000
$DEVICE_MAMPS,238.537,77.467,1022.411,666.523,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,311.569,0.000,0.000,0.000,0.000,0.000,0.000,10486.800,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,18.153,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,16755,468
$CAP_FILE_SIZE,109268,0
$CFSIZE,260165632,222515200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091110,191358,2116.970,12341.652,9,3.8,28,-2.8